Edge and plane classification with a biomimetic iCub fingertip sensor

Uriel Martinez Hernandez, Nathan F. Lepora, Hector Barron-Gonzalez, Tony J. Dodd, Tony J. Prescott

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The exploration and interaction of humanoid robots with theenvironment through tactile sensing is an important task forachieving truly autonomous agents. Recently much researchhas been focused on the development of new technologiesfor tactile sensors and new methods for tactile exploration.Edge detection is one of the tasks required in robots andhumanoids to explore and recognise objects. In this work wepropose a method for edge and plane classification with abiomimetic iCub fingertip using a probabilistic approach. TheiCub fingertip mounted on anxy-table robot is able to tap andcollect the data from the surface and edge of a plastic wall.Using a maximum likelihood classifier thexy-table knowswhen the iCub fingertip has reached the edge of the object. Thestudy presented here is also biologically inspired by the tactileexploration performed in animals.
Original languageEnglish
Title of host publicationProceedings of the Post-Graduate Conference on Robotics and Development of Cognition , 2012
EditorsJ. Szufnarowska
Pages24-27
Number of pages4
Publication statusPublished - 20 May 2012
Event Post-Graduate Conference on Robotics and Development of Cognition - Lausanne, Switzerland
Duration: 10 Sep 201212 Sep 2012

Conference

Conference Post-Graduate Conference on Robotics and Development of Cognition
CountrySwitzerland
CityLausanne
Period10/09/1212/09/12

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  • Cite this

    Martinez Hernandez, U., Lepora, N. F., Barron-Gonzalez, H., Dodd, T. J., & Prescott, T. J. (2012). Edge and plane classification with a biomimetic iCub fingertip sensor. In J. Szufnarowska (Ed.), Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition , 2012 (pp. 24-27) http://biecoll.ub.uni-bielefeld.de/volltexte/2012/5239/pdf/proceedings.pdf#page=27